CN106846469B - Based on tracing characteristic points by the method and apparatus of focusing storehouse reconstruct three-dimensional scenic - Google Patents
Based on tracing characteristic points by the method and apparatus of focusing storehouse reconstruct three-dimensional scenic Download PDFInfo
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Abstract
The invention discloses a kind of based on tracing characteristic points by the method and apparatus of focusing storehouse reconstruct three-dimensional scenic, comprising: establishes the forward model for being generated by three-dimensional scenic and focusing storehouse, provides three-dimensional scenic characteristic point and focus the geometrical relationship of storehouse；The characteristic point for focusing each image in storehouse is extracted, the coordinate of the characteristic point of successful match is tracked, characteristic point is obtained and is focusing the track in storehouse；It establishes by the inverse model of focusing storehouse reconstruct three-dimensional scenic: by the characteristic point of successful match, establishing the equation group about characteristic point three-dimensional coordinate, the three-dimensional coordinate of characteristic point is obtained by solve system of equation, reconstructs three-dimensional scenic, and realize that three-dimensional geometry measures.Focusing storehouse of the invention is to fix detector, by the acquisition for completing focusing storehouse along optical axis mobile lens, using the solution of the present invention, the three-dimensionalreconstruction under camera shooting visual angle can be realized, can provide accurate three-dimensional structure information for virtual reality and dimensional measurement.
Description
Technical field
The present invention relates to computer visions and digital image processing field, more particularly to a kind of tracing characteristic points that are based on are by gathering
Coke heap stack reconstructs three-dimensional scenic method and apparatus.
Background technique
The photo of traditional camera shooting be the light that issues of three-dimensional scenic by lens on two-dimensional detector light intensity it is tired
Adduction, causes radiation direction information and depth information of scene to be compressed in this way.Calculating photography is research three emerging in recent years
The frontier of imaging is tieed up, focusing storehouse is one of the method for calculating three-dimensional scenic reconstruct in photography.Focusing storehouse is one group poly-
Coke has three-dimensional information abundant in different imaging planes or using the imaging sequence of different parameters shooting.In computer vision
In, mainly to focus reconstruct and the dimensional measurement that the degree for defocusing and focusing of storehouse carries out three-dimensional scenic.It is existing by focusing
The method of storehouse reconstruct three-dimensional scenic is the reconstructing method based on Focus field emission array (could also say that zoom method), needs to calculate focusing
The Focus field emission array of each image of storehouse.
Summary of the invention
The purpose of the present invention is to provide it is a kind of based on tracing characteristic points by focusing storehouse reconstruct three-dimensional scenic method and
Device, the present invention use tracing characteristic points to provide effective means to reconstruct three-dimensional scenic by focusing storehouse, are different from mostly visually
Feel reconstruct three-dimensional scenic method, it is provided by the invention based on tracing characteristic points by focusing storehouse reconstruct three-dimensional scenic method and
Device, it is no longer necessary to estimate camera internal reference and outer ginseng, can satisfy and field angle (Field Of is shot to camera in the prior art
View, FOV) under three-dimensional scenic reconstruct demand.
To achieve the above object, the present invention provides a kind of side based on tracing characteristic points by focusing storehouse reconstruct three-dimensional scenic
Method, which comprises establish the forward model for being generated by three-dimensional scenic and focusing storehouse, obtain three-dimensional scenic characteristic point and focus
The relationship of storehouse；The characteristic point that each image is extracted from the focusing storehouse, generates according to three-dimensional scenic and is focusing storehouse just
Drill the coordinate of the characteristic point of successful match in focusing storehouse described in model tracking；Establish the three-dimensional coordinate of the characteristic point of successful match
With the equation group of three-dimensional scenic, solve system of equation obtains the three-dimensional coordinate of the characteristic point of successful match, reconstructs three-dimensional scenic.
Further, the forward model of the foundation are as follows:
The three-dimensional scenic characteristic point and the relationship for focusing storehouse are as follows:
Wherein,The forward model for focusing storehouse, (S are generated for three-dimensional scenicx, Sy) be scene object plane, f
(Sx, Sy) it is (Sx, Sy) corresponding irradiation level, (x, y) is n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth map,
d′nTo focus distance of the n-th imaging lens of storehouse to detector, d '1For focus storehouse the 1st imaging lens to detect
The distance of device,For (Sx, Sy) in imaging surface (x, y) expansion function.
Further, the equation group of the three-dimensional coordinate and three-dimensional scenic of the characteristic point for establishing successful match, solution side
Journey group obtains the three-dimensional coordinate of the characteristic point of successful match, specifically includes: establishing the characteristic point abscissa and three-dimensional of successful match
The equation group of the depth map of scene obtains the characteristic point abscissa of successful match by solving least square problem；Establish matching
The equation group of the depth map of successful characteristic point ordinate and three-dimensional scenic obtains matching by solving least square problem
The characteristic point ordinate of function.
Further, the equation group of the depth map of the characteristic point abscissa and three-dimensional scenic:
Wherein, (Sx, Sy) be scene object plane, (x, y) be n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth
Degree figure, d 'nTo focus distance of the n-th imaging lens of storehouse to detector, d '1It is arrived to focus the 1st imaging lens of storehouse
The distance of detector,It is characterized a little in the coordinate for the n-th imaging surface for focusing storehouse.
Further, the equation group of the depth map of the characteristic point ordinate and three-dimensional scenic are as follows:
Wherein, (Sx, Sy) be scene object plane, (x, y) be n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth
Degree figure, d 'nTo focus distance of the n-th imaging lens of storehouse to detector, d '1It is arrived to focus the 1st imaging lens of storehouse
The distance of detector,It is characterized a little in the coordinate for the n-th imaging surface for focusing storehouse.
The present invention also provides a kind of based on tracing characteristic points by the device of focusing storehouse reconstruct three-dimensional scenic, described device packet
Include: building module is generated the forward model for focusing storehouse by three-dimensional scenic for establishing, provides three-dimensional scenic characteristic point and focus
The relationship of storehouse；Module is obtained, for extracting the characteristic point of each image from the focusing storehouse, tracks the focusing storehouse
The characteristic point of middle successful match；Reconstructed module, the characteristic point of the successful match for being obtained according to the acquisition module, builds
The three-dimensional coordinate of the characteristic point of vertical successful match and the equation group of three-dimensional scenic, solve system of equation obtain the characteristic point of successful match
Three-dimensional coordinate, reconstruct three-dimensional scenic.
Further, the forward model that the building module is established are as follows:
The three-dimensional scenic characteristic point and the relationship for focusing storehouse are as follows:
Wherein,The forward model for focusing storehouse, (S are generated for three-dimensional scenicx, Sy) be scene object plane, f
(Sx, Sy) it is (Sx, Sy) corresponding irradiation level, (x, y) is n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth map,
d′nTo focus distance of the n-th imaging lens of storehouse to detector, d '1For focus storehouse the 1st imaging lens to detect
The distance of device,For (Sx, Sy) in imaging surface (x, y) expansion function.
Further, the reconstructed module specifically includes: the first relation unit, and the characteristic point for establishing successful match is horizontal
The equation group of the depth map of coordinate and three-dimensional scenic obtains the horizontal seat of characteristic point of successful match by solving least square problem
Mark；Second relation unit passes through for establishing the equation group of the characteristic point ordinate of successful match and the depth map of three-dimensional scenic
Least square problem is solved, the characteristic point ordinate of successful match is obtained；Reconfiguration unit, for according to first relation unit
The characteristic point ordinate for the successful match that the characteristic point abscissa of obtained successful match and second relation unit obtain,
Reconstruct three-dimensional scenic.
Further, the equation group of the depth map of the characteristic point abscissa and three-dimensional scenic:
Wherein, (Sx, Sy) be scene object plane, (x, y) be n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth
Degree figure, d 'nTo focus distance of the n-th imaging lens of storehouse to detector, d '1It is arrived to focus the 1st imaging lens of storehouse
The distance of detector,It is characterized a little in the coordinate for the n-th imaging surface for focusing storehouse.
Further, the equation group of the depth map of the characteristic point ordinate and three-dimensional scenic are as follows:
Wherein, (Sx, Sy) be scene object plane, (x, y) be n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth
Degree figure, d 'nTo focus distance of the n-th imaging lens of storehouse to detector, d '1It is arrived to focus the 1st imaging lens of storehouse
The distance of detector,It is characterized a little in the coordinate for the n-th imaging surface for focusing storehouse.
Scheme provided by the invention, by the relationship of building three-dimensional scenic characteristic point and focusing storehouse, tracking focuses storehouse
The characteristic point of middle successful match, and tracking feature point is focusing the track in storehouse, and then realizes under camera shooting visual field
Three-dimensional scenic reconstruct, can provide accurate three-dimensional structure information for virtual reality and dimensional measurement.
Detailed description of the invention
Fig. 1 be provide according to a first embodiment of the present invention based on tracing characteristic points by focusing storehouse reconstruct three-dimensional scenic side
The flow diagram of method.
Fig. 2 is that the generation provided according to a first embodiment of the present invention focuses the schematic diagram of storehouse.
Fig. 3 is the n-th imaging process schematic diagram of the focusing storehouse provided according to a first embodiment of the present invention.
Fig. 4 be provide according to a second embodiment of the present invention based on tracing characteristic points by focusing storehouse reconstruct three-dimensional scenic dress
The structural schematic diagram set.
Specific embodiment
In the accompanying drawings, same or similar element is indicated using same or similar label or there is same or like function
Element.The embodiment of the present invention is described in detail with reference to the accompanying drawing.
In the description of the present invention, term " center ", " longitudinal direction ", " transverse direction ", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the scope of the invention.
As shown in Figure 1, reconstructing three-dimensional scenic method packet by focusing storehouse based on tracing characteristic points provided by the present embodiment
It includes:
Step 101, the forward model for being generated by three-dimensional scenic and focusing storehouse is established, three-dimensional scenic characteristic point is obtained and is focused
The relationship of storehouse.
In the step, focusing storehouse is one group of imaging sequence for focusing on different imaging planes or being shot using different parameters
It arranges, the focusing storehouse in present embodiment is one group of imaging sequence for focusing on different imaging planes.Present embodiment is along light
Axis mobile lens, simultaneously fixed detector are completed for focusing storehouse acquisition, are illustrated to forward model is established.Pass through detection
Object (object is made of multiple object points) focuses on the image sequence of different imaging surfaces, these image sequence shapes in device acquisition scene
At focusing storehouse.It is more imaging planes imaging to the three-dimensional scenic under certain visual angle due to focusing storehouse, it is thus possible to real
Three-dimensional scenic reconstruct under existing camera shooting field angle (FOV), can provide accurate three-dimensional for virtual reality and dimensional measurement
Structural information.Certainly, the present invention can also focus storehouse using other method acquisitions.
Consider to shoot the three-dimensional scenic under visual field in camera, (f (S can be usedx, Sy), depth (Sx, Sy)) description three-dimensional
Scene.Wherein, (Sx, Sy) be scene object plane.f(Sx, Sy) it is (Sx, Sy) corresponding irradiation level.depth(Sx, Sy) it is three dimensional field
The depth map of scape.
Fig. 2 shows be the present embodiment formed focus storehouse schematic diagram, as shown in Fig. 2, Fig. 2 left side indicate scene,
Right side indicates detector, intermediate representation lens.Fixed detector, along optical axis mobile lens, as illustrated in Fig. 2 the 1st time at
The imaging of picture ... n-th.With lens moving along optical axis, the object plane of the corresponding scene of detector is also correspondingly moved along optical axis
It is dynamic, such as the 1st object plane ... the n-th object plane illustrated in Fig. 2.
Fig. 3 is the schematic diagram for focusing the n-th imaging process of storehouse, as shown in figure 3, (Sx, Sy) be scene object plane, (x,
It y) is n-th imaging surface, (Sx, Sy) with (x, y) between dotted line be n-th imaging len where plane.dnTo focus storehouse
N-th imaging len is to object plane (Sx, Sy) distance, d 'nFor focus storehouse i-th imaging len to detector distance,
d′1To focus the 1st imaging lens of storehouse to the distance of detector.
Lens imaging process is expressed according to lens imaging principle, and using point spread function, foundation is generated by three-dimensional scenic
Focus the forward model of storehouse are as follows:
Wherein,For (Sx, Sy) node expansion function on imaging surface (x, y).X and y is the abscissa of imaging surface and indulges
Coordinate, physical significance are (Sx, Sy) on point the position coordinates in imaging surface.
In the present embodiment, for simplified model, consider that the corresponding aperture of lens stop is approximately aperture, imaging process is regarded as
Pinhole imaging system can simplify model in this way and to calculate simply, therefore, node expansion functionFor impulse function δ function, then tie
Close the forward model stated:
It obtains three-dimensional scenic characteristic point and the relationship of focusing storehouse is as follows:
And then obtain three-dimensional scenic characteristic point (Sx, Sy) focusing the equation of locus in storehouse.
Step 102, feature all in each image is extracted from the focusing storehouse of forward model described in step 101
Point generates the coordinate for focusing the characteristic point of forward model tracking successful match of storehouse according to three-dimensional scenic.
In practical application, SIFT can be used, and (Scale-invariant feature transform, Scale invariant are special
Sign conversion), ORB (ORiented Brief), SURF carry out characteristic point extraction and matching.Matching refers to that the same object point exists
Imaging position is different in different focusing storehouse pictures, and matching is exactly to find these points.
In specific implementation, it is contemplated that SIFT keeps stronger robustness, and can locate to the visual angle change of image, noise
The matching problem in the case of translation, rotation, affine transformation between reason image, the present embodiment execute the figure for focusing storehouse using SIFT
As matching, the characteristic point of the image of successful match is obtained.
In the step, all characteristic points in each image: feature_ are extracted from the focusing storehouse that step 101 obtains
1, feature_2 ..., feature_M, tracking focus the characteristic point coordinate of all successful match in storehouse, characteristic point
Feature_m is in the coordinate of n-th imaging surface for focusing storehouse
Step 103: establishing by the inverse model of focusing storehouse reconstruct three-dimensional scenic, obtain the three of the characteristic point of successful match
Coordinate is tieed up, three-dimensional scenic is reconstructed.
It establishes and refers to that the three-dimensional of characteristic point for establishing successful match is sat by the inverse model of focusing storehouse reconstruct three-dimensional scenic
The equation group of mark and three-dimensional scenic.
The step method is specific as follows:
To the characteristic point feature_m of successful match, establish about characteristic point abscissa SxWith the depth map of three-dimensional scenic
depth(Sx, Sy) equation group:
It establishes about characteristic point ordinate SyWith the depth map depth (S of three-dimensional scenicx, Sy) equation group:
About characteristic point abscissa SxWith the depth map depth (S of three-dimensional scenicx, Sy) equation group, be expressed as AX=b1,
X=(Sx, depth (Sx, Sy))TCan be by solving least square problem min | | AX | |2Obtain SxWith depth (Sx, Sy).It is same to close
In characteristic point ordinate SyWith depth (Sx, Sy) equation group, be expressed as AY=b2, Y=(Sy, depth (Sx, Sy))T
Can be by solving least square problem min | | AY | |2Obtain Sy。
In practical application, the three-dimensional scenic generated under camera shooting visual field (FOV) includes three-dimensional point cloud atlas or three-dimensional rendering
Figure.
This method further include: the distance between measurement characteristic point provides the geometry ranging of three-dimensional scenic.
The method provided by the invention for reconstructing three-dimensional scenic by focusing storehouse based on tracing characteristic points, passes through and constructs three dimensional field
Scape characteristic point and the relationship for focusing storehouse, tracking focuses the characteristic point of successful match in storehouse, and calculates the spy of successful match
The three-dimensional coordinate of point is levied, and then realizes the three-dimensional scenic reconstruct under camera shooting visual field, can be surveyed for virtual reality and geometry
Amount provides accurate three-dimensional structure information.
Referring to fig. 4, the embodiment of the invention provides a kind of based on tracing characteristic points by focusing storehouse reconstruct three-dimensional scenic
Device, described device include:
Module 201 is constructed, the forward model for focusing storehouse is generated by three-dimensional scenic for establishing, provides three-dimensional scenic feature
Point and the relationship for focusing storehouse；
Obtain module 202, for extracting the characteristic point of each image in storehouse from focusing, tracking focus in storehouse matching at
The characteristic point of function；
Reconstructed module 203, for establishing successful match according to the characteristic point for obtaining the successful match that module 202 obtains
The three-dimensional coordinate of characteristic point and the equation group of three-dimensional scenic, solve system of equation obtain the three-dimensional coordinate of the characteristic point of successful match,
Reconstruct three-dimensional scenic.
In above embodiment, the forward model of the building foundation of module 201 are as follows:
The three-dimensional scenic characteristic point and the relationship for focusing storehouse are as follows:
Wherein, (Sx, Sy) be scene object plane, f (Sx, Sy) it is (Sx, Sy) corresponding irradiation level, depth (Sx, Sy) it is three
Tie up the depth map of scene, dnTo focus the n-th imaging lens of storehouse to object plane (Sx, Sy) distance, d 'nTo focus storehouse
Distance of the n-th imaging lens to detector, d '1To focus the 1st imaging lens of storehouse to the distance of detector.
Obtain the feature that module 202 extracts each image using SIFT, ORB or SURF method from the focusing storehouse
Point.
Reconstructed module 203 specifically includes:
First relation unit, for establishing the equation of the characteristic point abscissa of successful match and the depth map of three-dimensional scenic
Group obtains the characteristic point abscissa of successful match by solving least square problem；
Second relation unit, for establishing the equation of the characteristic point ordinate of successful match and the depth map of three-dimensional scenic
Group obtains the characteristic point ordinate of successful match by solving least square problem；
Reconfiguration unit, the characteristic point abscissa of the successful match for being obtained according to first relation unit and described
The characteristic point ordinate for the successful match that second relation unit obtains reconstructs three-dimensional scenic.
The equation group of the depth map of the characteristic point abscissa and three-dimensional scenic that first relation unit obtains:
The equation group of the depth map of the characteristic point ordinate and three-dimensional scenic that second relation unit obtains are as follows:
In the embodiment of the present invention, the three-dimensional scenic that reconstructed module 203 reconstructs includes three-dimensional point cloud atlas or three-dimensional rendering figure.
The device provided by the invention for being reconstructed three-dimensional scenic by focusing storehouse based on tracing characteristic points, is passed through and constructs module structure
It builds out three-dimensional scenic characteristic point and focuses the relationship of storehouse, tracking focuses the characteristic point of successful match in storehouse, and calculates
Three-dimensional coordinate with successful characteristic point, and then the three-dimensional scenic reconstruct under camera shooting visual field is realized, it can be virtual existing
Real and dimensional measurement provides accurate three-dimensional structure information.
Finally it is noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.This
The those of ordinary skill in field is it is understood that be possible to modify the technical solutions described in the foregoing embodiments or right
Part of technical characteristic is equivalently replaced；These are modified or replaceed, and it does not separate the essence of the corresponding technical solution originally
Invent the spirit and scope of each embodiment technical solution.
Claims (8)
1. a kind of method for reconstructing three-dimensional scenic by focusing storehouse based on tracing characteristic points, which is characterized in that the described method includes:
The forward model for being generated by three-dimensional scenic and focusing storehouse is established, three-dimensional scenic characteristic point is obtained and focuses the relationship of storehouse；
The characteristic point that each image is extracted from the focusing storehouse, chases after according to the forward model that three-dimensional scenic generates focusing storehouse
The coordinate of the characteristic point of successful match in focusing storehouse described in track；
The three-dimensional coordinate of the characteristic point of successful match and the equation group of three-dimensional scenic are established, solve system of equation obtains successful match
The three-dimensional coordinate of characteristic point reconstructs three-dimensional scenic；
The forward model of the foundation are as follows:
The three-dimensional scenic characteristic point and the relationship for focusing storehouse are as follows:
Wherein,The forward model for focusing storehouse, (S are generated for three-dimensional scenicx, Sy) be scene object plane, f (Sx, Sy)
It is (Sx, Sy) corresponding irradiation level, (x, y) is n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth map, d 'nIt is poly-
Distance of the n-th imaging lens of coke heap stack to detector, d '1For focus the 1st imaging lens of storehouse to detector away from
From,For (Sx, Sy) in imaging surface (x, y) expansion function.
2. the method as described in claim 1, which is characterized in that the three-dimensional coordinate and three of the characteristic point for establishing successful match
The equation group of scene is tieed up, solve system of equation obtains the three-dimensional coordinate of the characteristic point of successful match, specifically includes:
The equation group for establishing the characteristic point abscissa of successful match and the depth map of three-dimensional scenic is asked by solving least square
Topic, obtains the characteristic point abscissa of successful match；
The equation group for establishing the characteristic point ordinate of successful match and the depth map of three-dimensional scenic is asked by solving least square
Topic, obtains the characteristic point ordinate of successful match.
3. method according to claim 2, which is characterized in that the side of the depth map of the characteristic point abscissa and three-dimensional scenic
Journey group:
Wherein, (Sx, Sy) be scene object plane, (x, y) be n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth map,
d′nTo focus distance of the n-th imaging lens of storehouse to detector, d '1For focus storehouse the 1st imaging lens to detect
The distance of device,It is characterized a little in the coordinate for the n-th imaging surface for focusing storehouse.
4. method according to claim 2, which is characterized in that the side of the depth map of the characteristic point ordinate and three-dimensional scenic
Journey group are as follows:
Wherein, (Sx, Sy) be scene object plane, (x, y) be n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth map,
d′nTo focus distance of the n-th imaging lens of storehouse to detector, d '1For focus storehouse the 1st imaging lens to detect
The distance of device,It is characterized a little in the coordinate for the n-th imaging surface for focusing storehouse.
5. it is a kind of based on tracing characteristic points by the device of focusing storehouse reconstruct three-dimensional scenic, which is characterized in that described device includes:
Module is constructed, the forward model for focusing storehouse is generated by three-dimensional scenic for establishing, provides three-dimensional scenic characteristic point and gather
The relationship of coke heap stack；
Module is obtained, for extracting the characteristic point of each image from the focusing storehouse, tracks and is matched in the focusing storehouse
Successful characteristic point；
Reconstructed module, the characteristic point of the successful match for being obtained according to the acquisition module, establishes the spy of successful match
The three-dimensional coordinate of point and the equation group of three-dimensional scenic are levied, solve system of equation obtains the three-dimensional coordinate of the characteristic point of successful match, weight
Structure three-dimensional scenic；
The forward model that the building module is established are as follows:
The three-dimensional scenic characteristic point and the relationship for focusing storehouse are as follows:
Wherein,The forward model for focusing storehouse, (S are generated for three-dimensional scenicx, Sy) be scene object plane, f (Sx, Sy)
It is (Sx, Sy) corresponding irradiation level, (x, y) is n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth map, d 'nIt is poly-
Distance of the n-th imaging lens of coke heap stack to detector, d '1For focus the 1st imaging lens of storehouse to detector away from
From,For (Sx, Sy) in imaging surface (x, y) expansion function.
6. device as claimed in claim 5, which is characterized in that the reconstructed module specifically includes:
First relation unit leads to for establishing the equation group of the characteristic point abscissa of successful match and the depth map of three-dimensional scenic
Solution least square problem is crossed, the characteristic point abscissa of successful match is obtained；
Second relation unit leads to for establishing the equation group of the characteristic point ordinate of successful match and the depth map of three-dimensional scenic
Solution least square problem is crossed, the characteristic point ordinate of successful match is obtained；
Reconfiguration unit, the characteristic point abscissa of the successful match for being obtained according to first relation unit and described second
The characteristic point ordinate for the successful match that relation unit obtains reconstructs three-dimensional scenic.
7. device as claimed in claim 5, which is characterized in that the side of the depth map of the characteristic point abscissa and three-dimensional scenic
Journey group:
Wherein, (Sx, Sy) be scene object plane, (x, y) be n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth map,
d′nTo focus distance of the n-th imaging lens of storehouse to detector, d '1For focus storehouse the 1st imaging lens to detect
The distance of device,It is characterized a little in the coordinate for the n-th imaging surface for focusing storehouse.
8. device as claimed in claim 5, which is characterized in that the side of the depth map of the characteristic point ordinate and three-dimensional scenic
Journey group are as follows:
Wherein, (Sx, Sy) be scene object plane, (x, y) be n-th imaging surface, depth (Sx, Sy) be three-dimensional scenic depth map,
d′nTo focus distance of the n-th imaging lens of storehouse to detector, d '1For focus storehouse the 1st imaging lens to detect
The distance of device,It is characterized a little in the coordinate for the n-th imaging surface for focusing storehouse.
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